# Loading Visualization
import plotly.offline as py
from plotly.graph_objs import *
import pandas as pd
import math
py.init_notebook_mode()
my_cols=['px_est','py_est','vx_est','vy_est','px_meas','py_meas','px_gt','py_gt','vx_gt','vy_gt']
with open('/Users/Suman/S/Projects/UdacityNanoDegree/SelfDrivingCar/SelfDrivingCar-UnscentedKalmanFilter/build/output1.txt') as f:
table_ekf_output = pd.read_table(f, sep='\t', header=None, names=my_cols, lineterminator='\n')
#table_ekf_output
import plotly.offline as py
from plotly.graph_objs import *
#Measurements
trace2 = Scatter(
x=table_ekf_output['px_meas'],
y=table_ekf_output['py_meas'],
xaxis='x2',
yaxis='y2',
name = 'Measurements',
#mode = 'markers'
)
#estimations
trace1 = Scatter(
x=table_ekf_output['px_est'],
y=table_ekf_output['py_est'],
xaxis='x2',
yaxis='y2',
name='KF- Estimate',
mode = 'markers'
)
#Ground Truth
trace3 = Scatter(
x=table_ekf_output['px_gt'],
y=table_ekf_output['py_gt'],
xaxis='x2',
yaxis='y2',
name = 'Ground Truth',
mode = 'markers'
)
data = [trace1, trace2, trace3]
layout = Layout(
xaxis2=dict(
anchor='x2',
title='px'
),
yaxis2=dict(
anchor='y2',
title='py'
)
)
fig = Figure(data=data, layout=layout)
py.iplot(fig, filename= 'EKF')
# Loading Visualization 2
import plotly.offline as py
from plotly.graph_objs import *
import pandas as pd
import math
py.init_notebook_mode()
my_cols=['px_est','py_est','vx_est','vy_est','px_meas','py_meas','px_gt','py_gt','vx_gt','vy_gt']
with open('/Users/Suman/S/Projects/UdacityNanoDegree/SelfDrivingCar/SelfDrivingCar-UnscentedKalmanFilter/build/output2.txt') as f:
table_ekf_output = pd.read_table(f, sep='\t', header=None, names=my_cols, lineterminator='\n')
#table_ekf_output
import plotly.offline as py
from plotly.graph_objs import *
#estimations
trace1 = Scatter(
x=table_ekf_output['px_est'],
y=table_ekf_output['py_est'],
xaxis='x2',
yaxis='y2',
name='KF- Estimate'
)
#Measurements
trace2 = Scatter(
x=table_ekf_output['px_meas'],
y=table_ekf_output['py_meas'],
xaxis='x2',
yaxis='y2',
name = 'Measurements',
mode = 'markers'
)
#Measurements
trace3 = Scatter(
x=table_ekf_output['px_gt'],
y=table_ekf_output['py_gt'],
xaxis='x2',
yaxis='y2',
name = 'Ground Truth'
)
data = [trace1, trace2, trace3]
layout = Layout(
xaxis2=dict(
anchor='x2',
title='px'
),
yaxis2=dict(
anchor='y2',
title='py'
)
)
fig = Figure(data=data, layout=layout)
py.iplot(fig, filename= 'EKF')